OpenRaiser/Intern-Atlas huggingface dataset:
Metadata practices for simulation workflows
Venue: arXiv cs.IR 2025
Year: 2025

Computer simulations are an essential pillar of knowledge generation in science. Exploring, understanding, reproducing, and sharing the results of simulations relies on tracking and organizing the metadata describing the numerical experiments. The models used to understand real-world systems, and the computational machinery required to simulate them, are typically complex, and produce large amounts of heterogeneous metadata. Here, we present general practices for acquiring and handling metadata that are agnostic to software and hardware, and highly flexible for the user. These consist of two steps: 1) recording and storing raw metadata, and 2) selecting and structuring metadata. As a proof of concept, we develop the Archivist, a Python tool to help with the second step, and use it to apply our practices to distinct high-performance computing use cases from neuroscience and hydrology. Our practices and the Archivist can readily be applied to existing workflows without the need for substantial restructuring. They support sustainable numerical workflows, fostering replicability, reproducibility, data exploration, and data sharing in simulation-based research.
Language-guided Scale-aware MedSegmentor for Lesion Segmentation in Medical Imaging
Venue: arXiv cs.CV 2025
Year: 2025

In clinical practice, segmenting specific lesions based on the needs of physicians can significantly enhance diagnostic accuracy and treatment efficiency. However, conventional lesion segmentation models lack the flexibility to distinguish lesions according to specific requirements. Given the practical advantages of using text as guidance, we propose a novel model, Language-guided Scale-aware MedSegmentor (LSMS), which segments target lesions in medical images based on given textual expressions. We define this as a new task termed Referring Lesion Segmentation (RLS). To address the lack of suitable benchmarks for RLS, we construct a vision-language medical dataset named Reference Hepatic Lesion Segmentation (RefHL-Seg). LSMS incorporates two key designs: (i) Scale-Aware Vision-Language attention module, which performs visual feature extraction and vision-language alignment in parallel. By leveraging diverse convolutional kernels, this module acquires rich visual representations and interacts closely with linguistic features, thereby enhancing the model's capacity for precise object localization. (ii) Full-Scale Decoder, which globally models multi-modal features across multiple scales and captures complementary information between them to accurately delineate lesion boundaries. Additionally, we design a specialized loss function comprising both segmentation loss and vision-language contrastive loss to better optimize cross-modal learning. We validate the performance of LSMS on RLS as well as on conventional lesion segmentation tasks across multiple datasets. Our LSMS consistently achieves superior performance with significantly lower computational cost. Code and datasets will be released.
Augmented Reality without Borders: Achieving Precise Localization Without Maps
Venue: arXiv cs.RO 2025
Year: 2025

Visual localization is crucial for Computer Vision and Augmented Reality (AR) applications, where determining the camera or device's position and orientation is essential to accurately interact with the physical environment. Traditional methods rely on detailed 3D maps constructed using Structure from Motion (SfM) or Simultaneous Localization and Mapping (SLAM), which is computationally expensive and impractical for dynamic or large-scale environments. We introduce MARLoc, a novel localization framework for AR applications that uses known relative transformations within image sequences to perform intra-sequence triangulation, generating 3D-2D correspondences for pose estimation and refinement. MARLoc eliminates the need for pre-built SfM maps, providing accurate and efficient localization suitable for dynamic outdoor environments. Evaluation with benchmark datasets and real-world experiments demonstrates MARLoc's state-of-the-art performance and robustness. By integrating MARLoc into an AR device, we highlight its capability to achieve precise localization in real-world outdoor scenarios, showcasing its practical effectiveness and potential to enhance visual localization in AR applications.
MoRe Fine-Tuning with 10x Fewer Parameters
Venue: arXiv cs.LG 2025
Year: 2025

Parameter-efficient fine-tuning (PEFT) techniques have unlocked the potential to cheaply and easily specialize large pretrained models. However, the most prominent approaches, like low-rank adapters (LoRA), depend on heuristics or rules-of-thumb for their architectural choices -- potentially limiting their performance for new models and architectures. This limitation suggests that techniques from neural architecture search could be used to obtain optimal adapter architectures, but these are often expensive and difficult to implement. We address this challenge with Monarch Rectangular Fine-tuning (MoRe), a simple framework to search over adapter architectures that relies on the Monarch matrix class. Theoretically, we show that MoRe is more expressive than LoRA. Empirically, our approach is more parameter-efficient and performant than state-of-the-art PEFTs on a range of tasks and models, with as few as 5\% of LoRA's parameters.
Open-Vocabulary Action Localization with Iterative Visual Prompting
Venue: arXiv cs.CV 2025
Year: 2025

Video action localization aims to find the timings of specific actions from a long video. Although existing learning-based approaches have been successful, they require annotating videos, which comes with a considerable labor cost. This paper proposes a training-free, open-vocabulary approach based on emerging off-the-shelf vision-language models (VLMs). The challenge stems from the fact that VLMs are neither designed to process long videos nor tailored for finding actions. We overcome these problems by extending an iterative visual prompting technique. Specifically, we sample video frames and create a concatenated image with frame index labels, allowing a VLM to identify the frames that most likely correspond to the start and end of the action. By iteratively narrowing the sampling window around the selected frames, the estimation gradually converges to more precise temporal boundaries. We demonstrate that this technique yields reasonable performance, achieving results comparable to state-of-the-art zero-shot action localization. These results support the use of VLMs as a practical tool for understanding videos. Sample code is available at https://microsoft.github.io/VLM-Video-Action-Localization/
PolypDB: A Curated Multi-Center Dataset for Development of AI Algorithms in Colonoscopy
Venue: arXiv cs.CV 2025
Year: 2025

Colonoscopy is the primary method for examination, detection, and removal of polyps. However, challenges such as variations among the endoscopists' skills, bowel quality preparation, and the complex nature of the large intestine contribute to high polyp miss-rate. These missed polyps can develop into cancer later, underscoring the importance of improving the detection methods. To address this gap of lack of publicly available, multi-center large and diverse datasets for developing automatic methods for polyp detection and segmentation, we introduce PolypDB, a large scale publicly available dataset that contains 3934 still polyp images and their corresponding ground truth from real colonoscopy videos. PolypDB comprises images from five modalities: Blue Light Imaging (BLI), Flexible Imaging Color Enhancement (FICE), Linked Color Imaging (LCI), Narrow Band Imaging (NBI), and White Light Imaging (WLI) from three medical centers in Norway, Sweden, and Vietnam. We provide a benchmark on each modality and center, including federated learning settings using popular segmentation and detection benchmarks. PolypDB is public and can be downloaded at \url{https://osf.io/pr7ms/}. More information about the dataset, segmentation, detection, federated learning benchmark and train-test split can be found at \url{https://github.com/DebeshJha/PolypDB}.
PrivacyLens: Evaluating Privacy Norm Awareness of Language Models in Action
Venue: arXiv cs.CL 2025
Year: 2025

As language models (LMs) are widely utilized in personalized communication scenarios (e.g., sending emails, writing social media posts) and endowed with a certain level of agency, ensuring they act in accordance with the contextual privacy norms becomes increasingly critical. However, quantifying the privacy norm awareness of LMs and the emerging privacy risk in LM-mediated communication is challenging due to (1) the contextual and long-tailed nature of privacy-sensitive cases, and (2) the lack of evaluation approaches that capture realistic application scenarios. To address these challenges, we propose PrivacyLens, a novel framework designed to extend privacy-sensitive seeds into expressive vignettes and further into agent trajectories, enabling multi-level evaluation of privacy leakage in LM agents' actions. We instantiate PrivacyLens with a collection of privacy norms grounded in privacy literature and crowdsourced seeds. Using this dataset, we reveal a discrepancy between LM performance in answering probing questions and their actual behavior when executing user instructions in an agent setup. State-of-the-art LMs, like GPT-4 and Llama-3-70B, leak sensitive information in 25.68% and 38.69% of cases, even when prompted with privacy-enhancing instructions. We also demonstrate the dynamic nature of PrivacyLens by extending each seed into multiple trajectories to red-team LM privacy leakage risk. Dataset and code are available at https://github.com/SALT-NLP/PrivacyLens.
Explainable Artificial Intelligence: A Survey of Needs, Techniques, Applications, and Future Direction
Venue: arXiv cs.AI 2025
Year: 2025

Artificial intelligence models encounter significant challenges due to their black-box nature, particularly in safety-critical domains such as healthcare, finance, and autonomous vehicles. Explainable Artificial Intelligence (XAI) addresses these challenges by providing explanations for how these models make decisions and predictions, ensuring transparency, accountability, and fairness. Existing studies have examined the fundamental concepts of XAI, its general principles, and the scope of XAI techniques. However, there remains a gap in the literature as there are no comprehensive reviews that delve into the detailed mathematical representations, design methodologies of XAI models, and other associated aspects. This paper provides a comprehensive literature review encompassing common terminologies and definitions, the need for XAI, beneficiaries of XAI, a taxonomy of XAI methods, and the application of XAI methods in different application areas. The survey is aimed at XAI researchers, XAI practitioners, AI model developers, and XAI beneficiaries who are interested in enhancing the trustworthiness, transparency, accountability, and fairness of their AI models.
UDGS-SLAM : UniDepth Assisted Gaussian Splatting for Monocular SLAM
Venue: arXiv cs.CV 2025
Year: 2025

Recent advancements in monocular neural depth estimation, particularly those achieved by the UniDepth network, have prompted the investigation of integrating UniDepth within a Gaussian splatting framework for monocular SLAM. This study presents UDGS-SLAM, a novel approach that eliminates the necessity of RGB-D sensors for depth estimation within Gaussian splatting framework. UDGS-SLAM employs statistical filtering to ensure local consistency of the estimated depth and jointly optimizes camera trajectory and Gaussian scene representation parameters. The proposed method achieves high-fidelity rendered images and low ATERMSE of the camera trajectory. The performance of UDGS-SLAM is rigorously evaluated using the TUM RGB-D dataset and benchmarked against several baseline methods, demonstrating superior performance across various scenarios. Additionally, an ablation study is conducted to validate design choices and investigate the impact of different network backbone encoders on system performance.
Online Optimization for Learning to Communicate over Time-Correlated Channels
Venue: arXiv cs.LG 2025
Year: 2025

Machine learning techniques have garnered great interest in designing communication systems owing to their capacity in tackling with channel uncertainty. To provide theoretical guarantees for learning-based communication systems, some recent works analyze generalization bounds for devised methods based on the assumption of Independently and Identically Distributed (I.I.D.) channels, a condition rarely met in practical scenarios. In this paper, we drop the I.I.D. channel assumption and study an online optimization problem of learning to communicate over time-correlated channels. To address this issue, we further focus on two specific tasks: optimizing channel decoders for time-correlated fading channels and selecting optimal codebooks for time-correlated additive noise channels. For utilizing temporal dependence of considered channels to better learn communication systems, we develop two online optimization algorithms based on the optimistic online mirror descent framework. Furthermore, we provide theoretical guarantees for proposed algorithms via deriving sub-linear regret bound on the expected error probability of learned systems. Extensive simulation experiments have been conducted to validate that our presented approaches can leverage the channel correlation to achieve a lower average symbol error rate compared to baseline methods, consistent with our theoretical findings.
On the Price of Decentralization in Decentralized Detection
Venue: arXiv cs.IT 2025
Year: 2025

Fundamental limits on the error probabilities of a family of decentralized detection algorithms (eg., the social learning rule proposed by Lalitha et al. over directed graphs are investigated. In decentralized detection, a network of nodes locally exchanging information about the samples they observe with their neighbors to collectively infer the underlying unknown hypothesis. Each node in the network weighs the messages received from its neighbors to form its private belief and only requires knowledge of the data generating distribution of its observation. In this work, it is first shown that while the original social learning rule of Lalitha et al. achieves asymptotically vanishing error probabilities as the number of samples tends to infinity, it suffers a gap in the achievable error exponent compared to the centralized case. The gap is due to the network imbalance caused by the local weights that each node chooses to weigh the messages received from its neighbors. To close this gap, a modified learning rule is proposed and shown to achieve error exponents as large as those in the centralized setup. This implies that there is essentially no first-order penalty caused by decentralization in the exponentially decaying rate of error probabilities.
Scalable Neighborhood Local Search for Single-Machine Scheduling with Family Setup Times
Venue: arXiv cs.DS 2025
Year: 2025

In this work, we study the task of scheduling jobs on a single machine with sequence dependent family setup times under the goal of minimizing the makespan, that is, the completion time of the last job in the schedule. This notoriously NP-hard problem is highly relevant in practical productions and requires heuristics that provide good solutions quickly in order to deal with large instances. In this paper, we present a heuristic based on the approach of parameterized local search. That is, we aim to replace a given solution by a better solution having distance at most $k$ in a pre-defined distance measure. This is done multiple times in a hill-climbing manner, until a locally optimal solution is reached. We analyze the trade-off between the allowed distance $k$ and the algorithm's running time for four natural distance measures. Example of allowed operations for our considered distance measures are: swapping $k$ pairs of jobs in the sequence, or rearranging $k$ consecutive jobs. For two distance measures, we show that finding an improvement for given $k$ can be done in $f(k) \cdot n^{\mathcal{O}(1)}$ time, while such a running time for the other two distance measures is unlikely. We provide a preliminary experimental evaluation of our local search approaches.
A Counterfactual Explanation Framework for Retrieval Models
Venue: arXiv cs.IR 2025
Year: 2025

Explainability has become a crucial concern in today's world, aiming to enhance transparency in machine learning and deep learning models. Information retrieval is no exception to this trend. In existing literature on explainability of information retrieval, the emphasis has predominantly been on illustrating the concept of relevance concerning a retrieval model. The questions addressed include why a document is relevant to a query, why one document exhibits higher relevance than another, or why a specific set of documents is deemed relevant for a query. However, limited attention has been given to understanding why a particular document is not favored (e.g. not within top-K) with respect to a query and a retrieval model. In an effort to address this gap, our work focus on the question of what terms need to be added within a document to improve its ranking. This in turn answers the question of which words played a role in not being favored in the document by a retrieval model for a particular query. We use a counterfactual framework to solve the above-mentioned research problem. To the best of our knowledge, we mark the first attempt to tackle this specific counterfactual problem (i.e. examining the absence of which words can affect the ranking of a document). Our experiments show the effectiveness of our proposed approach in predicting counterfactuals for both statistical (e.g. BM25) and deep-learning-based models (e.g. DRMM, DSSM, ColBERT, MonoT5). The code implementation of our proposed approach is available in https://anonymous.4open.science/r/CfIR-v2.
User-Driven Value Alignment: Understanding Users' Perceptions and Strategies for Addressing Biased and Discriminatory Statements in AI Companions
Venue: arXiv cs.HC 2025
Year: 2025

Large language model-based AI companions are increasingly viewed by users as friends or romantic partners, leading to deep emotional bonds. However, they can generate biased, discriminatory, and harmful outputs. Recently, users are taking the initiative to address these harms and re-align AI companions. We introduce the concept of user-driven value alignment, where users actively identify, challenge, and attempt to correct AI outputs they perceive as harmful, aiming to guide the AI to better align with their values. We analyzed 77 social media posts about discriminatory AI statements and conducted semi-structured interviews with 20 experienced users. Our analysis revealed six common types of discriminatory statements perceived by users, how users make sense of those AI behaviors, and seven user-driven alignment strategies, such as gentle persuasion and anger expression. We discuss implications for supporting user-driven value alignment in future AI systems, where users and their communities have greater agency.
Towards Student Actions in Classroom Scenes: New Dataset and Baseline
Venue: arXiv cs.CV 2025
Year: 2025

Analyzing student actions is an important and challenging task in educational research. Existing efforts have been hampered by the lack of accessible datasets to capture the nuanced action dynamics in classrooms. In this paper, we present a new multi-label Student Action Video (SAV) dataset, specifically designed for action detection in classroom settings. The SAV dataset consists of 4,324 carefully trimmed video clips from 758 different classrooms, annotated with 15 distinct student actions. Compared to existing action detection datasets, the SAV dataset stands out by providing a wide range of real classroom scenarios, high-quality video data, and unique challenges, including subtle movement differences, dense object engagement, significant scale differences, varied shooting angles, and visual occlusion. These complexities introduce new opportunities and challenges to advance action detection methods. To benchmark this, we propose a novel baseline method based on a visual transformer, designed to enhance attention to key local details within small and dense object regions. Our method demonstrates excellent performance with a mean Average Precision (mAP) of 67.9% and 27.4% on the SAV and AVA datasets, respectively. This paper not only provides the dataset but also calls for further research into AI-driven educational tools that may transform teaching methodologies and learning outcomes. The code and dataset are released at https://github.com/Ritatanz/SAV.
Affordance-based Robot Manipulation with Flow Matching
Venue: arXiv cs.RO 2025
Year: 2025

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios where gathering multi-task data involving humans requires strenuous effort; second, effectively learning robot action trajectories by grounding the visual affordance model. We tackle the first challenge by employing a parameter-efficient prompt tuning method that prepends learnable text prompts to the frozen vision model to predict manipulation affordances in multi-task scenarios. Then we propose to learn robot action trajectories guided by affordances in a supervised flow matching method. Flow matching represents a robot visuomotor policy as a conditional process of flowing random waypoints to desired robot action trajectories. Finally, we introduce a real-world dataset with 10 tasks across Activities of Daily Living to test our framework. Our extensive evaluation highlights that the proposed prompt tuning method for learning manipulation affordance achieves competitive performance and even outperforms some other finetuning protocols across data scales, while satisfying parameter efficiency. Learning multi-task robot action trajectories with flow matching leads to consistently favorable results in several robot manipulation benchmarks than some alternative behavior cloning methods. This includes more stable training and evaluation, and noticeably faster inference, while maintaining comparable generalization performance to diffusion policy, where flow matching performs marginally better in most cases. Our framework seamlessly unifies affordance learning and action generation with flow matching for robot manipulation.
Direct Kinematics, Inverse Kinematics, and Motion Planning of 1-DoF Rational Linkages
Venue: arXiv cs.RO 2025
Year: 2025

This study presents a set of algorithms that deal with trajectory planning of rational single-loop mechanisms with one degree of freedom (DoF). Benefiting from a dual quaternion representation of a rational motion, a formula for direct (forward) kinematics, a numerical inverse kinematics algorithm, and the generation of a driving-joint trajectory are provided. A novel approach using the Gauss-Newton search for the one-parameter inverse kinematics problem is presented. Additionally, a method for performing smooth equidistant travel of the tool is provided by applying arc-length reparameterization. This general approach can be applied to one-DoF mechanisms with four to seven joints characterized by a rational motion, without any additional geometrical analysis. An experiment was performed to demonstrate the usage in a laboratory setup.